OpenRaiser/Intern-Atlas huggingface dataset:
Edge Computing Assisted Autonomous Flight for UAV: Synergies between Vision and Communications
Venue: arXiv cs.NI 2020
Year: 2020

Autonomous flight for UAVs relies on visual information for avoiding obstacles and ensuring a safe collision-free flight. In addition to visual clues, safe UAVs often need connectivity with the ground station. In this paper, we study the synergies between vision and communications for edge computing-enabled UAV flight. By proposing a framework of Edge Computing Assisted Autonomous Flight (ECAAF), we illustrate that vision and communications can interact with and assist each other with the aid of edge computing and offloading, and further speed up the UAV mission completion. ECAAF consists of three functionalities that are discussed in detail: edge computing for 3D map acquisition, radio map construction from the 3D map, and online trajectory planning. During ECAAF, the interactions of communication capacity, video offloading, 3D map quality, and channel state of the trajectory form a positive feedback loop. Simulation results verify that the proposed method can improve mission performance by enhancing connectivity. Finally, we conclude with some future research directions.
Equivalent Causal Models
Venue: arXiv cs.AI 2020
Year: 2020

The aim of this paper is to offer the first systematic exploration and definition of equivalent causal models in the context where both models are not made up of the same variables. The idea is that two models are equivalent when they agree on all "essential" causal information that can be expressed using their common variables. I do so by focussing on the two main features of causal models, namely their structural relations and their functional relations. In particular, I define several relations of causal ancestry and several relations of causal sufficiency, and require that the most general of these relations are preserved across equivalent models.
Lookahead optimizer improves the performance of Convolutional Autoencoders for reconstruction of natural images
Venue: arXiv cs.CV 2020
Year: 2020

Autoencoders are a class of artificial neural networks which have gained a lot of attention in the recent past. Using the encoder block of an autoencoder the input image can be compressed into a meaningful representation. Then a decoder is employed to reconstruct the compressed representation back to a version which looks like the input image. It has plenty of applications in the field of data compression and denoising. Another version of Autoencoders (AE) exist, called Variational AE (VAE) which acts as a generative model like GAN. Recently, an optimizer was introduced which is known as lookahead optimizer which significantly enhances the performances of Adam as well as SGD. In this paper, we implement Convolutional Autoencoders (CAE) and Convolutional Variational Autoencoders (CVAE) with lookahead optimizer (with Adam) and compare them with the Adam (only) optimizer counterparts. For this purpose, we have used a movie dataset comprising of natural images for the former case and CIFAR100 for the latter case. We show that lookahead optimizer (with Adam) improves the performance of CAEs for reconstruction of natural images.
Increased performance in DDM analysis by calculating structure functions through Fourier transform in time
Venue: arXiv cs.CV 2020
Year: 2020

Differential Dynamic Microscopy (DDM) is the combination of optical microscopy to statistical analysis to obtain information about the dynamical behaviour of a variety of samples spanning from soft matter physics to biology. In DDM, the dynamical evolution of the samples is investigated separately at different length scales and extracted from a set of images recorded at different times. A specific result of interest is the structure function that can be computed via spatial Fourier transforms and differences of signals. In this work, we present an algorithm to efficiently process a set of images according to the DDM analysis scheme. We bench-marked the new approach against the state-of-the-art algorithm reported in previous work. The new implementation computes the DDM analysis faster, thanks to an additional Fourier transform in time instead of performing differences of signals. This allows obtaining very fast analysis also in CPU based machine. In order to test the new code, we performed the DDM analysis over sets of more than 1000 images with and without the help of GPU hardware acceleration. As an example, for images of $512 \times 512$ pixels, the new algorithm is 10 times faster than the previous GPU code. Without GPU hardware acceleration and for the same set of images, we found that the new algorithm is 300 faster than the old one both running only on the CPU.
Notes on Deep Learning Theory
Venue: arXiv cs.LG 2020
Year: 2020

These are the notes for the lectures that I was giving during Fall 2020 at the Moscow Institute of Physics and Technology (MIPT) and at the Yandex School of Data Analysis (YSDA). The notes cover some aspects of initialization, loss landscape, generalization, and a neural tangent kernel theory. While many other topics (e.g. expressivity, a mean-field theory, a double descent phenomenon) are missing in the current version, we plan to add them in future revisions.
Stochastic Damped L-BFGS with Controlled Norm of the Hessian Approximation
Venue: arXiv cs.LG 2020
Year: 2020

We propose a new stochastic variance-reduced damped L-BFGS algorithm, where we leverage estimates of bounds on the largest and smallest eigenvalues of the Hessian approximation to balance its quality and conditioning. Our algorithm, VARCHEN, draws from previous work that proposed a novel stochastic damped L-BFGS algorithm called SdLBFGS. We establish almost sure convergence to a stationary point and a complexity bound. We empirically demonstrate that VARCHEN is more robust than SdLBFGS-VR and SVRG on a modified DavidNet problem -- a highly nonconvex and ill-conditioned problem that arises in the context of deep learning, and their performance is comparable on a logistic regression problem and a nonconvex support-vector machine problem.
Understanding Learned Reward Functions
Venue: arXiv cs.LG 2020
Year: 2020

In many real-world tasks, it is not possible to procedurally specify an RL agent's reward function. In such cases, a reward function must instead be learned from interacting with and observing humans. However, current techniques for reward learning may fail to produce reward functions which accurately reflect user preferences. Absent significant advances in reward learning, it is thus important to be able to audit learned reward functions to verify whether they truly capture user preferences. In this paper, we investigate techniques for interpreting learned reward functions. In particular, we apply saliency methods to identify failure modes and predict the robustness of reward functions. We find that learned reward functions often implement surprising algorithms that rely on contingent aspects of the environment. We also discover that existing interpretability techniques often attend to irrelevant changes in reward output, suggesting that reward interpretability may need significantly different methods from policy interpretability.
Four algorithms to solve symmetric multi-type non-negative matrix tri-factorization problem
Venue: arXiv cs.DS 2020
Year: 2020

In this paper, we consider the symmetric multi-type non-negative matrix tri-factorization problem (SNMTF), which attempts to factorize several symmetric non-negative matrices simultaneously. This can be considered as a generalization of the classical non-negative matrix tri-factorization problem and includes a non-convex objective function which is a multivariate sixth degree polynomial and a has convex feasibility set. It has a special importance in data science, since it serves as a mathematical model for the fusion of different data sources in data clustering. We develop four methods to solve the SNMTF. They are based on four theoretical approaches known from the literature: the fixed point method (FPM), the block-coordinate descent with projected gradient (BCD), the gradient method with exact line search (GM-ELS) and the adaptive moment estimation method (ADAM). For each of these methods we offer a software implementation: for the former two methods we use Matlab and for the latter Python with the TensorFlow library. We test these methods on three data-sets: the synthetic data-set we generated, while the others represent real-life similarities between different objects. Extensive numerical results show that with sufficient computing time all four methods perform satisfactorily and ADAM most often yields the best mean square error ($\mathrm{MSE}$). However, if the computation time is limited, FPM gives the best $\mathrm{MSE}$ because it shows the fastest convergence at the beginning. All data-sets and codes are publicly available on our GitLab profile.
A Comment on and Correction to: Opinion dynamics in the presence of increasing agreement pressure
Venue: arXiv cs.SI 2020
Year: 2020

We identify a counter-example to the consensus result given in [J. Semonsen et al. Opinion dynamics in the presence of increasing agreement pressure. \textit{IEEE Trans. Cyber.}, 49(4): 1270-1278, 2018]. We resolve the counter-example by replacing Lemma 5 in the given reference with a novel variation of the Banach Fixed Point theorem which explains both the numerical results in the reference and the counter-example(s) in this note, and provides a sufficient condition for consensus in systems with increasing peer-pressure. This work is relevant for other papers that have used the proof technique from Semonsen et al. and establishes the veracity of their claims assuming the new sufficient condition.
Guiding Development Work Across a Software Ecosystem by Visualizing Usage Data
Venue: arXiv cs.SE 2020
Year: 2020

Software is increasingly produced in the form of ecosystems, collections of interdependent components maintained by a distributed community. These ecosystems act as network organizations, not markets, and thus often lack actionable price-like signals about how the software is used and what impact it has. We introduce a tool, the Scientific Software Network Map, that collects and displays summarized usage data tailored to the needs of actors in software ecosystems. We performed a contextualized walkthrough of the Map with producers and stewards in six scientific software ecosystems that use the R language. We found that they work to maximize diversity rather than quantity of uses, and to minimize coordination costs. We also found that summarized usage data would be useful for justifying ecosystem work to funding agencies; and we discovered a variety of more granular usage needs that would help in adding or maintaining features.
Strong Admissibility for Abstract Dialectical Frameworks
Venue: arXiv cs.AI 2020
Year: 2020

Abstract dialectical frameworks (ADFs) have been introduced as a formalism for modeling and evaluating argumentation allowing general logical satisfaction conditions. Different criteria used to settle the acceptance of arguments are called semantics. Semantics of ADFs have so far mainly been defined based on the concept of admissibility. However, the notion of strongly admissible semantics studied for abstract argumentation frameworks has not yet been introduced for ADFs. In the current work we present the concept of strong admissibility of interpretations for ADFs. Further, we show that strongly admissible interpretations of ADFs form a lattice with the grounded interpretation as top element.
The Three Ghosts of Medical AI: Can the Black-Box Present Deliver?
Venue: arXiv cs.AI 2020
Year: 2020

Our title alludes to the three Christmas ghosts encountered by Ebenezer Scrooge in \textit{A Christmas Carol}, who guide Ebenezer through the past, present, and future of Christmas holiday events. Similarly, our article will take readers through a journey of the past, present, and future of medical AI. In doing so, we focus on the crux of modern machine learning: the reliance on powerful but intrinsically opaque models. When applied to the healthcare domain, these models fail to meet the needs for transparency that their clinician and patient end-users require. We review the implications of this failure, and argue that opaque models (1) lack quality assurance, (2) fail to elicit trust, and (3) restrict physician-patient dialogue. We then discuss how upholding transparency in all aspects of model design and model validation can help ensure the reliability of medical AI.
Sketchy With a Chance of Adoption: Can Sketch-Based Telemetry Be Ready for Prime Time?
Venue: arXiv cs.NI 2020
Year: 2020

Sketching algorithms or sketches have emerged as a promising alternative to the traditional packet sampling-based network telemetry solutions. At a high level, they are attractive because of their high resource efficiency and accuracy guarantees. While there have been significant recent advances in various aspects of sketching for networking tasks, many fundamental challenges remain unsolved that are likely stumbling blocks for adoption. Our contribution in this paper is in identifying and formulating these research challenges across the ecosystem encompassing network operators, platform vendors/developers, and algorithm designers. We hope that these serve as a necessary fillip for the community to enable the broader adoption of sketch-based telemetry.
Artificial Intelligence & Cooperation
Venue: arXiv cs.CY 2020
Year: 2020

The rise of Artificial Intelligence (AI) will bring with it an ever-increasing willingness to cede decision-making to machines. But rather than just giving machines the power to make decisions that affect us, we need ways to work cooperatively with AI systems. There is a vital need for research in "AI and Cooperation" that seeks to understand the ways in which systems of AIs and systems of AIs with people can engender cooperative behavior. Trust in AI is also key: trust that is intrinsic and trust that can only be earned over time. Here we use the term "AI" in its broadest sense, as employed by the recent 20-Year Community Roadmap for AI Research (Gil and Selman, 2019), including but certainly not limited to, recent advances in deep learning. With success, cooperation between humans and AIs can build society just as human-human cooperation has. Whether coming from an intrinsic willingness to be helpful, or driven through self-interest, human societies have grown strong and the human species has found success through cooperation. We cooperate "in the small" -- as family units, with neighbors, with co-workers, with strangers -- and "in the large" as a global community that seeks cooperative outcomes around questions of commerce, climate change, and disarmament. Cooperation has evolved in nature also, in cells and among animals. While many cases involving cooperation between humans and AIs will be asymmetric, with the human ultimately in control, AI systems are growing so complex that, even today, it is impossible for the human to fully comprehend their reasoning, recommendations, and actions when functioning simply as passive observers.
Interdisciplinary Approaches to Understanding Artificial Intelligence's Impact on Society
Venue: arXiv cs.CY 2020
Year: 2020

Innovations in AI have focused primarily on the questions of "what" and "how"-algorithms for finding patterns in web searches, for instance-without adequate attention to the possible harms (such as privacy, bias, or manipulation) and without adequate consideration of the societal context in which these systems operate. In part, this is driven by incentives and forces in the tech industry, where a more product-driven focus tends to drown out broader reflective concerns about potential harms and misframings. But this focus on what and how is largely a reflection of the engineering and mathematics-focused training in computer science, which emphasizes the building of tools and development of computational concepts. As a result of this tight technical focus, and the rapid, worldwide explosion in its use, AI has come with a storm of unanticipated socio-technical problems, ranging from algorithms that act in racially or gender-biased ways, get caught in feedback loops that perpetuate inequalities, or enable unprecedented behavioral monitoring surveillance that challenges the fundamental values of free, democratic societies. Given that AI is no longer solely the domain of technologists but rather of society as a whole, we need tighter coupling of computer science and those disciplines that study society and societal values.
A Review of Hidden Markov Models and Recurrent Neural Networks for Event Detection and Localization in Biomedical Signals
Venue: arXiv cs.LG 2020
Year: 2020

Biomedical signals carry signature rhythms of complex physiological processes that control our daily bodily activity. The properties of these rhythms indicate the nature of interaction dynamics among physiological processes that maintain a homeostasis. Abnormalities associated with diseases or disorders usually appear as disruptions in the structure of the rhythms which makes isolating these rhythms and the ability to differentiate between them, indispensable. Computer aided diagnosis systems are ubiquitous nowadays in almost every medical facility and more closely in wearable technology, and rhythm or event detection is the first of many intelligent steps that they perform. How these rhythms are isolated? How to develop a model that can describe the transition between processes in time? Many methods exist in the literature that address these questions and perform the decoding of biomedical signals into separate rhythms. In here, we demystify the most effective methods that are used for detection and isolation of rhythms or events in time series and highlight the way in which they were applied to different biomedical signals and how they contribute to information fusion. The key strengths and limitations of these methods are also discussed as well as the challenges encountered with application in biomedical signals.
How to Train PointGoal Navigation Agents on a (Sample and Compute) Budget
Venue: arXiv cs.CV 2020
Year: 2020

PointGoal navigation has seen significant recent interest and progress, spurred on by the Habitat platform and associated challenge. In this paper, we study PointGoal navigation under both a sample budget (75 million frames) and a compute budget (1 GPU for 1 day). We conduct an extensive set of experiments, cumulatively totaling over 50,000 GPU-hours, that let us identify and discuss a number of ostensibly minor but significant design choices -- the advantage estimation procedure (a key component in training), visual encoder architecture, and a seemingly minor hyper-parameter change. Overall, these design choices to lead considerable and consistent improvements over the baselines present in Savva et al. Under a sample budget, performance for RGB-D agents improves 8 SPL on Gibson (14% relative improvement) and 20 SPL on Matterport3D (38% relative improvement). Under a compute budget, performance for RGB-D agents improves by 19 SPL on Gibson (32% relative improvement) and 35 SPL on Matterport3D (220% relative improvement). We hope our findings and recommendations will make serve to make the community's experiments more efficient.
Intrinsic Temporal Regularization for High-resolution Human Video Synthesis
Venue: arXiv cs.CV 2020
Year: 2020

Temporal consistency is crucial for extending image processing pipelines to the video domain, which is often enforced with flow-based warping error over adjacent frames. Yet for human video synthesis, such scheme is less reliable due to the misalignment between source and target video as well as the difficulty in accurate flow estimation. In this paper, we propose an effective intrinsic temporal regularization scheme to mitigate these issues, where an intrinsic confidence map is estimated via the frame generator to regulate motion estimation via temporal loss modulation. This creates a shortcut for back-propagating temporal loss gradients directly to the front-end motion estimator, thus improving training stability and temporal coherence in output videos. We apply our intrinsic temporal regulation to single-image generator, leading to a powerful "INTERnet" capable of generating $512\times512$ resolution human action videos with temporal-coherent, realistic visual details. Extensive experiments demonstrate the superiority of proposed INTERnet over several competitive baselines.
Classifying Breast Histopathology Images with a Ductal Instance-Oriented Pipeline
Venue: arXiv cs.CV 2020
Year: 2020

In this study, we propose the Ductal Instance-Oriented Pipeline (DIOP) that contains a duct-level instance segmentation model, a tissue-level semantic segmentation model, and three-levels of features for diagnostic classification. Based on recent advancements in instance segmentation and the Mask R-CNN model, our duct-level segmenter tries to identify each ductal individual inside a microscopic image; then, it extracts tissue-level information from the identified ductal instances. Leveraging three levels of information obtained from these ductal instances and also the histopathology image, the proposed DIOP outperforms previous approaches (both feature-based and CNN-based) in all diagnostic tasks; for the four-way classification task, the DIOP achieves comparable performance to general pathologists in this unique dataset. The proposed DIOP only takes a few seconds to run in the inference time, which could be used interactively on most modern computers. More clinical explorations are needed to study the robustness and generalizability of this system in the future.
Superpixel Segmentation Based on Spatially Constrained Subspace Clustering
Venue: arXiv cs.CV 2020
Year: 2020

Superpixel segmentation aims at dividing the input image into some representative regions containing pixels with similar and consistent intrinsic properties, without any prior knowledge about the shape and size of each superpixel. In this paper, to alleviate the limitation of superpixel segmentation applied in practical industrial tasks that detailed boundaries are difficult to be kept, we regard each representative region with independent semantic information as a subspace, and correspondingly formulate superpixel segmentation as a subspace clustering problem to preserve more detailed content boundaries. We show that a simple integration of superpixel segmentation with the conventional subspace clustering does not effectively work due to the spatial correlation of the pixels within a superpixel, which may lead to boundary confusion and segmentation error when the correlation is ignored. Consequently, we devise a spatial regularization and propose a novel convex locality-constrained subspace clustering model that is able to constrain the spatial adjacent pixels with similar attributes to be clustered into a superpixel and generate the content-aware superpixels with more detailed boundaries. Finally, the proposed model is solved by an efficient alternating direction method of multipliers (ADMM) solver. Experiments on different standard datasets demonstrate that the proposed method achieves superior performance both quantitatively and qualitatively compared with some state-of-the-art methods.